CN114279719B - Unmanned automobile test simulation device - Google Patents
Unmanned automobile test simulation device Download PDFInfo
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- CN114279719B CN114279719B CN202111535796.7A CN202111535796A CN114279719B CN 114279719 B CN114279719 B CN 114279719B CN 202111535796 A CN202111535796 A CN 202111535796A CN 114279719 B CN114279719 B CN 114279719B
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- 238000004088 simulation Methods 0.000 title claims abstract description 21
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- 244000144972 livestock Species 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 8
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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Abstract
The invention provides a test simulation device for an unmanned automobile, which is used for simulating a test environment of the unmanned automobile and comprises a lane with a pavement groove, a simulated fault object placed on the lane, a load beam, a transverse motion linear motor running track, a transverse motion linear motor, a central driving linear motor, a left track and a right track respectively placed on two sides of the central driving linear motor, wherein the load beam is connected with the central driving linear motor through the pavement groove, the central driving linear motor provides power for the simulated fault object to longitudinally move along the lane, and the transverse motion linear motor provides power for the simulated fault object to transversely move along the lane. The simulation method has the advantages that multiple occasions which are closer to real life scenes are simulated, the accompany of a real person tester is avoided, and unnecessary damage is avoided; in addition, the speed, the acceleration, the direction and the like of the obstacle are simulated more accurately, and more data with reference significance can be provided for unmanned automobile testing.
Description
Technical Field
The invention belongs to the field of unmanned automobile testing, and particularly relates to a fault object running track testing simulation device for detecting obstacle avoidance performance of an unmanned automobile.
Background
The test of the unmanned automobile is a professional field accompanied with the development and rising of the unmanned automobile, and is also an important channel for linking the development and commercialization of the unmanned automobile. With the advancement of unmanned technology, unmanned automobile testing has become a major concern for the public. The unmanned automobile can automatically recognize traffic signs and driving information, is provided with electronic facilities such as radars, cameras, global satellite navigation and the like, and is provided with a synchronous sensor. The car owner can automatically run and go to the destination only by inputting the destination to the navigation system. In the driving process, the automobile can upload road condition information through the sensing equipment and perform real-time positioning analysis on the basis of a large amount of data, so that the driving direction and the driving speed are judged. However, with the continuous convergence of various technologies in the technology of unmanned vehicles, the degree of intellectualization and complexity of unmanned vehicles are also increasing, and thus more efficient, comprehensive and safer test equipment is required. At present, a true person tester is mostly left in the unmanned automobile for accompanying the test during the test of the unmanned automobile at home and abroad. One of the biggest drawbacks of this testing method is the huge potential safety hazard for human testers.
The road condition simulating the actual road provides a test environment for the unmanned vehicle, which is very important in the performance test of the unmanned vehicle. For an unmanned vehicle, it is necessary to test its strain capacity in the face of different movement curves of different faults on the road. The current testing method and technical conditions in the field are not mature, and in the existing unmanned automobile testing system, the movement track of the fault object is mostly fixed, and the road condition of an actual road cannot be simulated, so that the actual operation performance of the unmanned automobile cannot be well tested.
In view of the above, it is necessary to design an unmanned automobile test simulation device to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a simulation device for unmanned automobile test, which is used for simulating various occasions closer to real life scenes, and simulating various conditions of constant speed, acceleration, deceleration, lane change and the like of fault objects, so that accompanying of a real person tester is avoided, and unnecessary damage is avoided; in addition, the speed, the acceleration, the direction and the like of the obstacle are simulated more accurately, and more data with reference significance can be provided for unmanned automobile testing.
In order to achieve the above purpose, the invention provides a test simulation device for a unmanned vehicle, which is used for simulating a test environment of the unmanned vehicle and comprises a lane with a pavement groove, a simulated fault object placed on the lane, a load beam, a transverse motion linear motor running rail arranged on the load beam, a transverse motion linear motor arranged on the transverse motion linear motor running rail, a central driving linear motor placed below the central pavement of the lane, and left and right rails respectively placed at two sides of the central driving linear motor, wherein the left and right rails are installed below the pavement at two sides of the lane and are connected with the load beam through the pavement groove to provide running rails for the load beam, the load beam is connected with the central driving linear motor through the pavement groove, and the central driving linear motor provides power for the simulated fault object to longitudinally move along the lane and provides power for the simulated fault object to transversely move along the lane.
The invention is further improved in that the transverse motion linear motor comprises a transverse motion linear motor stator, a transverse motion linear motor rotor, a steering torque motor and a transverse motion linear motor running track.
The invention further improves that the transverse motion linear motor running track provides a running track for a transverse driving linear motor stator, a rotor and a steering torque motor on the load beam, so as to provide a transverse motion track for fault objects on the transverse motion linear motor running track.
The invention further improves that the simulated fault objects can simulate fault objects such as automobiles, bicycles, people, livestock and the like.
A further development of the invention consists in that the central drive linear motor, the transversely driven linear motor stator mounted on the load beam, the mover and the steering torque motor are configured to be driven jointly, so that various movement curves of the fault object on the road surface are simulated.
The invention further improves that the load beam further comprises a load beam extension structure so as to simulate the long-distance transverse movement of a fault object, and the simulation of the movement route across the vehicle is completed when the fault object is simulated to enter an adjacent vehicle lane for driving.
A further improvement of the invention is that the load beam also has universal wheels connected to the load beam elongate structural steel structure to reduce drag and provide support.
The invention is further improved in that the load beam is also provided with a connecting steel structure for connecting the left rail, the right rail and the central driving linear motor.
A further development of the invention is that the lane can be either a simulated lane or a real road surface.
The beneficial effects of the invention are as follows: the unmanned automobile test simulation device provided by the invention uses the ground load beam to drag the simulated fault object to move, and the linear motor and the like are arranged below the ground, so that the introduced interference objects are fewer, the movement control such as better speed and acceleration is accurate, meanwhile, the transverse movement linear motor arranged on the load beam steel structure can drive the simulated fault object to transversely move, the steering torque motor arranged on the transverse movement linear motor can provide power for the steering of the simulated fault object, under the combined action of the ground load beam and the simulated fault object, various movement conditions of the obstacle in a lane can be better simulated, the simulated fault object can be pushed to enter an adjacent lane to travel by virtue of the load beam extension structure, and the lane crossing movement route is simulated.
Drawings
Fig. 1 is a block diagram of an unmanned automobile test simulation device provided by an embodiment of the invention when the unmanned automobile test simulation device runs in a single lane.
Fig. 2 is a block diagram of the unmanned automobile test simulation device provided by the embodiment of the invention when the unmanned automobile test simulation device runs across an automobile track.
Fig. 3 is a detailed view of a load beam embodying the present invention.
Fig. 4 is a detailed view of an elongated structure of a load beam embodying the present invention.
In the figure: 1. simulating a fault object; 2. a load beam; 3. a central driving linear motor; 4. a left rail; 5. a right rail; 6. a beam extension structure; 21. a transverse motion linear motor stator; 22. a mover of a linear motor moves transversely; 23. a steering torque motor; 24. a transverse motion linear motor running rail; 25. a load beam steel structure; 61. the load beam extends the structural steel structure; 62. and a universal wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be emphasized that in describing the present invention, various formulas and constraints are distinguished by consistent reference numerals, respectively, but that the use of different reference numerals to identify identical formulas and/or constraints is not intended to be limiting in order to more clearly illustrate the features of the present invention.
The invention discloses a device capable of simulating road conditions close to actual roads, which is used for detecting the performance of an obstacle avoidance system of an unmanned automobile.
Referring to fig. 1 to 4 in combination, the unmanned test system apparatus of the present invention includes a simulated fault 1, a load beam 2, a central driving linear motor 3, a left rail 4, a right rail 5, a beam extension structure 6, a transverse moving linear motor stator 21, a transverse moving linear motor mover 22, a steering torque motor 23, a transverse moving linear motor running rail 24, a load beam steel structure 25, a load beam extension structure steel structure 61, and universal wheels 62.
The simulated fault object 1 placed in the test field can simulate the fault objects such as automobiles, bicycles, people, livestock and the like running on a fake road surface and is used for detecting the performance of an obstacle avoidance system of the vehicle. The load beam 2 is connected with a central driving linear motor 3 under the central ground of the lane through a pavement groove. The central driving linear motor 3 provides power for the longitudinal movement of the fault 1 along the road. The left rail 4 and the right rail 5 are arranged below the road surfaces at the two sides of the lane, are connected with the load beam 2 through road surface grooves, and provide running rails for the load beam 2. By the common driving of the central driving linear motor 3, the transverse driving linear motor stator 21, the mover 22 and the steering torque motor 23 which are mounted on the load beam 2, various motion curves of the fault object 1 on the road can be simulated. The transverse movement linear motor running rail 24 mainly provides running rails for the transverse driving linear motor stator 21, the rotor 22 and the steering torque motor 23 on the load beam 2, so as to provide a movement track for the fault object 1 thereon. In the present invention, the center road surface groove is assumed as the Y axis, and the lateral movement linear motor running rail 24 is assumed as the X axis. The lower surface of the load beam extension structure steel structure 61 is connected with the universal wheels 62, so that the resistance during movement can be effectively reduced.
When the unmanned automobile testing device is applied, the unmanned automobile testing device is arranged at a place which is relatively open and has no signal influence on the unmanned automobile, the simulated fault object 1 is fixed on the steering torque motor 23, and the device is started. As shown in fig. 1, when the central driving linear motor 3 runs, the load beam 2 moves forward along the track of the central driving linear motor, and changing the running state of the central driving linear motor 3 can change the running state of the load beam 2, so as to simulate the uniform speed, acceleration or deceleration movement condition of the fault object 1. As shown in fig. 2, when the transverse motion linear motor is operated, the mover 22 of the transverse motion linear motor and the simulated fault object 1 fixed thereon move transversely along the track, and the transverse uniform speed, acceleration or deceleration of the fault object 1 can be realized by changing the operation state of the transverse motion linear motor. The load beam 2 has a load beam extension structure 6, the details of which are shown in fig. 4, which structure 6 enables a long-distance lateral movement of the fault object 1. Through the common driving of the central linear motor 3, the transverse movement linear motors 21 and 22 and the steering torque motor 23, the transverse and longitudinal movement speed, the acceleration and the like of the fault object 1 can be changed, and the fault object 1 can finally move along various tracks, so that the actual road condition is simulated, and the test of the unmanned automobile is completed. In the preferred embodiment, the test device is mounted on a simulated road surface having road grooves, lanes, etc. for mounting the test device. It will be appreciated that in other embodiments, the testing device of the present invention may also be placed directly on the ground.
The unmanned automobile testing device provided by the invention uses the load beam 2 to drag the simulated fault object 1 to move, the linear motor system is arranged under the road surface, the introduced interference objects are fewer, and the unmanned automobile testing device has the characteristics of higher speed and acceleration, accurate motion control and the like. The transverse motion linear motors 21 and 22 arranged on the steel structure of the load beam 2 can drive the simulated fault object 1 to transversely move, and the steering torque motor 23 arranged on the transverse motion linear motors 21 and 22 can provide power for simulating the steering of the fault object 1, so that various motion conditions of the obstacle in a lane can be better simulated under the action of the structure. The simulated fault object 1 and the load beam extension structure 6 can be used for pushing the simulated fault object to enter an adjacent lane for driving, so as to simulate a cross-lane movement route.
The invention solves the problems existing in the unmanned automobile test at the present stage through a simple and practical mechanical structure design: the problem of fixed movement track of the fault object. The device provided by the invention provides different movement tracks of various fault objects for the unmanned automobile, and can greatly improve the test efficiency of the unmanned automobile.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.
Claims (6)
1. An unmanned car test analogue means for the test environment of simulation unmanned car, its characterized in that: the vehicle-mounted intelligent control system comprises a lane with a pavement groove, a simulated fault object placed on the lane, a load beam, a transverse motion linear motor running rail arranged on the load beam, a transverse motion linear motor arranged on the transverse motion linear motor running rail, a central driving linear motor placed below the central pavement of the lane, and left and right rails respectively placed on two sides of the central driving linear motor, wherein the left and right rails are installed below the pavement on two sides of the lane and are connected with the load beam through the pavement groove to provide the running rail for the load beam, the load beam is connected with the central driving linear motor through the pavement groove, the central driving linear motor provides power for the simulated fault object to longitudinally move along the lane, and the transverse motion linear motor provides power for the simulated fault object to transversely move along the lane; the transverse motion linear motor comprises a transverse motion linear motor stator, a transverse motion linear motor rotor and a transverse motion linear motor running track; the transverse motion linear motor running track provides a running track for a transverse driving linear motor stator, a rotor and a steering torque motor on the load beam, so that a transverse motion track is provided for a fault object on the transverse motion linear motor running track; the load beam further comprises a load beam extension structure so as to simulate long-distance transverse movement of a fault object, and the simulation of the movement route across the vehicle is completed when the fault object is simulated to enter an adjacent vehicle lane for running.
2. The unmanned vehicle test simulation apparatus of claim 1, wherein: the fault objects which can be simulated by the simulated fault objects comprise automobiles, bicycles, people and livestock.
3. The unmanned vehicle test simulation apparatus of claim 1, wherein: the central driving linear motor, the transverse driving linear motor stator, the rotor and the steering torque motor which are arranged on the load beam are configured to be driven together, so that various motion curves of fault objects on the road surface are simulated.
4. The unmanned vehicle test simulation apparatus of claim 1, wherein: the load beam also has universal wheels connected to the load beam extension structure steel structure to reduce drag and provide support.
5. The unmanned vehicle test simulation apparatus of claim 1, wherein: the load beam is also provided with a connecting steel structure for connecting the left rail, the right rail and the central driving linear motor.
6. The unmanned vehicle test simulation apparatus according to any of claims 1 to 5, wherein: the lanes include simulated lanes or real road surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111535796.7A CN114279719B (en) | 2021-12-15 | 2021-12-15 | Unmanned automobile test simulation device |
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| CN202111535796.7A CN114279719B (en) | 2021-12-15 | 2021-12-15 | Unmanned automobile test simulation device |
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| CN114279719A CN114279719A (en) | 2022-04-05 |
| CN114279719B true CN114279719B (en) | 2024-02-02 |
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| DE102022108395A1 (en) | 2022-04-07 | 2023-10-12 | Bayerische Motoren Werke Aktiengesellschaft | Testing device for testing an environment detection device of a motor vehicle |
| CN117330331B (en) * | 2023-10-30 | 2024-03-12 | 南方(韶关)智能网联新能源汽车试验检测中心有限公司 | Intelligent driving test platform system |
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| EP1998160A1 (en) * | 2007-05-31 | 2008-12-03 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | System and method for testing a vehicle |
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